Please use this identifier to cite or link to this item:
|Title:||Workspace importance sampling for probabilistic roadmap planning||Authors:||Kurniawati, H.
|Issue Date:||2004||Citation:||Kurniawati, H.,Hsu, D. (2004). Workspace importance sampling for probabilistic roadmap planning. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2 : 1618-1624. ScholarBank@NUS Repository.||Abstract:||Probabilistic Roadmap (PRM) planners have been successful in path planning of robots with many degrees of freedom, but they behave poorly when a robot's configuration space contains narrow passages. This paper presents workspace importance sampling (WIS), a new sampling strategy for PRM planning. Our main idea is to use geometric information from a robot's workspace as "importance" values to guide sampling in the corresponding configuration space. By doing so, WIS increases the sampling density in narrow passages and decreases the sampling density in wide-open regions. We tested the new planner on rigid-body and articulated robots in 2-D and 3-D environments. Experimental results show that WIS improves the planner's performance for path planning problems with narrow passages.||Source Title:||2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)||URI:||http://scholarbank.nus.edu.sg/handle/10635/40413||ISBN:||0780384636|
|Appears in Collections:||Staff Publications|
Show full item record
Files in This Item:
There are no files associated with this item.
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.